Safety issues in nonstop update of running programs for mobile robots

Eiichi Horiuchi, Osamu Matsumoto, Noriho Koyachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Nonstop Update (NSU) is a service robot architecture to upgrade running robot controllers without suspending the services of robot systems. Its target application is mobile robots operating in remote or hazardous environments where suspension of ongoing missions is unacceptable or human intervention for changing or debugging programs is not easy. The present paper introduces NSU from a point of view of both safety and performance. The present study defines the safety in NSU as a property that controller programs should not suspend or run away because of update-related sources. Safety issues such as deadlocks, module dependency, discontinuity of behavior between before and after update, and delays due to update overhead time are addressed. Safety and performance of NSU is examined and demonstrated by using three practical mobile systems: a mobile manipulator for a power assist system, a hexapod legged mobile robot, and a biped walking robot with wheeled legs.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages120-126
Number of pages7
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005
Externally publishedYes

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Long-term operations
  • Mobile robots
  • Nonstop update
  • Service robot architecture

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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